<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from /home/mayankm/rsl_vt/catkin_ws/src/kinova_common/kinova_description/urdf/kinova.urdf.xacro | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<!-- j2s6_3 refers to jaco v2 6DOF spherical 3fingers -->
<robot name="kinova" xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz" xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint" xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model" xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics" xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable" xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://www.ros.org/wiki/xacro" xmlns:xi="http://www.w3.org/2001/XInclude">
  <link name="world">  </link>
  <!--Platform-->
  <link name="platform">
    <visual>
      <!-- Main Body -->
      <origin rpy="0 0 0" xyz="0 0 0.25"/>
      <geometry>
        <box size="0.845 0.27 0.5"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.25"/>
      <geometry>
        <box size="0.845 0.27 0.5"/>
      </geometry>
    </collision>
  </link>
  <joint name="platform_joint_world" type="fixed">
    <parent link="world"/>
    <child link="platform"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <!-- Base link -->
  <link name="kinova_link_base">
    <visual>
      <geometry>
        <mesh filename="../meshes/base.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0.078375"/>
      <geometry>
        <cylinder length="0.15675" radius="0.04125" />
      </geometry>
    </collision>
    <!-- <xacro:kinova_inertial mesh_no="${mesh_no}"/>   -->
  </link>
  <joint name="kinova_joint_platform" type="fixed">
    <parent link="platform"/>
    <child link="kinova_link_base"/>
    <origin rpy="0 0 0" xyz="0.314 0 0.5"/>
  </joint>
  <!-- Fixed joint to add dummy inertia link -->
  <joint name="kinova_link_base_to_kinova_link_base_inertia" type="fixed">
    <parent link="kinova_link_base"/>
    <child link="kinova_link_base_inertia"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <!-- Dummy inertia link, because KDL cannot have inertia on the base link -->
  <link name="kinova_link_base_inertia">
    <inertial>
      <mass value="0.46784"/>
      <origin rpy="0 0 0" xyz="0 0 0.1255"/>
      <inertia ixx="0.000951270861568" ixy="0" ixz="0" iyy="0.000951270861568" iyz="0" izz="0.000374272"/>
    </inertial>
  </link>
  <link name="kinova_link_1">
    <visual>
      <geometry>
        <mesh filename="../meshes/shoulder.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="../meshes/ring_big.STL"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0187"/>
      <geometry>
        <cylinder length="0.0374" radius="0.041"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.0205 -0.07994"/>
      <geometry>
        <box size="0.082 0.041 0.08488"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 -0.0205 -0.119"/>
      <geometry>
        <cylinder length="0.041" radius="0.041"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.7477"/>
      <origin xyz="0 -0.002 -0.0605"/>
      <inertia ixx="0.00152031725204" ixy="0" ixz="0" iyy="0.00152031725204" iyz="0" izz="0.00059816"/>
    </inertial>
  </link>
  <joint name="kinova_joint_1" type="revolute">
    <parent link="kinova_link_base"/>
    <child link="kinova_link_1"/>
    <axis xyz="0 0 1"/>
    <limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
    <!-- limit effort also defines torque limit and freeze controller gains -->
    <origin rpy="0 3.14159265359 0" xyz="0 0 0.15675"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="kinova_link_2">
    <visual>
      <geometry>
        <mesh filename="../meshes/arm.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="../meshes/ring_big.STL"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0215"/>
      <geometry>
        <cylinder length="0.043" radius="0.0415"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.204875 -0.0325"/>
      <geometry>
        <box size="0.0825 0.40975 0.0215"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.204875 -0.0215"/>
      <geometry>
        <box size="0.0825 0.26975 0.0325"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 -0.40975 -0.0215"/>
      <geometry>
        <cylinder length="0.043" radius="0.0415"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.99"/>
      <origin xyz="0 -0.2065 -0.01"/>
      <inertia ixx="0.010502207991" ixy="0" ixz="0" iyy="0.000792" iyz="0" izz="0.010502207991"/>
    </inertial>
  </link>
  <joint name="kinova_joint_2" type="revolute">
    <parent link="kinova_link_1"/>
    <child link="kinova_link_2"/>
    <axis xyz="0 0 1"/>
    <limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
    <!-- limit effort also defines torque limit and freeze controller gains -->
    <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.0016 -0.11875"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="kinova_link_3">
    <visual>
      <geometry>
        <mesh filename="../meshes/forearm.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="../meshes/ring_big.STL"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0215"/>
      <geometry>
        <cylinder length="0.043" radius="0.0415"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.053 -0.0215"/>
      <geometry>
        <box size="0.0825 0.106 0.043"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0.15525 -0.0115"/>
      <geometry>
        <cylinder length="0.1035" radius="0.0315"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.6763"/>
      <origin xyz="0 0.081 -0.0086"/>
      <inertia ixx="0.00142022431908" ixy="0" ixz="0" iyy="0.000304335" iyz="0" izz="0.00142022431908"/>
    </inertial>
  </link>
  <joint name="kinova_joint_3" type="revolute">
    <parent link="kinova_link_2"/>
    <child link="kinova_link_3"/>
    <axis xyz="0 0 1"/>
    <limit effort="30.5" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
    <!-- limit effort also defines torque limit and freeze controller gains -->
    <origin rpy="0 3.14159265359 0" xyz="0 -0.410 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="kinova_link_4">
    <visual>
      <geometry>
        <mesh filename="../meshes/wrist_spherical_1.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="../meshes/ring_small.STL"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.025"/>
      <geometry>
        <cylinder length="0.050" radius="0.0315"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.0157 -0.0753"/>
      <geometry>
        <box size="0.063 0.0315 0.056"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0.024 -0.10362"/>
      <geometry>
        <cylinder length="0.048" radius="0.0315"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.463"/>
      <origin xyz="0 0.0028848942 -0.0541932613"/>
      <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="0.0004321316048" iyz="0" izz="9.26e-05"/>
    </inertial>
  </link>
  <joint name="kinova_joint_4" type="revolute">
    <parent link="kinova_link_3"/>
    <child link="kinova_link_4"/>
    <axis xyz="0 0 1"/>
    <limit effort="6.8" lower="-62.8318530718" upper="6.28318530718" velocity="15"/>
    <!-- limit effort also defines torque limit and freeze controller gains -->
    <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.2073 -0.0114"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="kinova_link_5">
    <visual>
      <geometry>
        <mesh filename="../meshes/wrist_spherical_2.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="../meshes/ring_small.STL"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.024"/>
      <geometry>
        <cylinder length="0.048" radius="0.0315"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0.028 -0.01575"/>
      <geometry>
        <box size="0.063 0.056 0.0315"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="1.57079632679 0 0" xyz="0 0.07862 0"/>
      <geometry>
        <cylinder length="0.050" radius="0.0315"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.463"/>
      <origin xyz="0 0.0497208855 -0.0028562765"/>
      <inertia ixx="0.0004321316048" ixy="0" ixz="0" iyy="9.26e-05" iyz="0" izz="0.0004321316048"/>
    </inertial>
  </link>
  <joint name="kinova_joint_5" type="revolute">
    <parent link="kinova_link_4"/>
    <child link="kinova_link_5"/>
    <axis xyz="0 0 1"/>
    <limit effort="6.8" lower="-6.28318530718" upper="62.8318530718" velocity="15"/>
    <!-- limit effort also defines torque limit and freeze controller gains -->
    <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 -0.10375"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="kinova_link_6">
    <visual>
      <geometry>
        <mesh filename="../meshes/hand_3finger.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <visual>
      <geometry>
        <mesh filename="../meshes/ring_small.STL"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.024"/>
      <geometry>
        <cylinder length="0.048" radius="0.0315"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0.43 0 0" xyz="0 0.0175 -0.06"/>
      <geometry>
        <cylinder length="0.0775" radius="0.02625"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0.43 0 0" xyz="0 0.0175 -0.0575"/>
      <geometry>
        <cylinder length="0.0975" radius="0.021"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="-0.435 0 0.62" xyz="0.0175 -0.0175 -0.06"/>
      <geometry>
        <cylinder length="0.0775" radius="0.02625"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="-0.435 0 0.62" xyz="0.0175 -0.0175 -0.0575"/>
      <geometry>
        <cylinder length="0.0975" radius="0.021"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="-0.435 0 -0.62" xyz="-0.0175 -0.0175 -0.06"/>
      <geometry>
        <cylinder length="0.0775" radius="0.02625"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="-0.435 0 -0.62" xyz="-0.0175 -0.0175 -0.0575"/>
      <geometry>
        <cylinder length="0.0975" radius="0.021"/>
      </geometry>
    </collision>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 -0.0550"/>
      <geometry>
        <box size="0.050 0.032 0.1075"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="1.327"/>
      <!-- 0.927 is original mass without additional force sensor -->
      <origin xyz="0 0 -0.06"/>
      <inertia ixx="0.0004403232387" ixy="0" ixz="0" iyy="0.0004403232387" iyz="0" izz="0.0007416"/>
    </inertial>
  </link>

   <joint name="kinova_joint_6" type="revolute">
    <parent link="kinova_link_5"/>
    <child link="kinova_link_6"/>
    <axis xyz="0 0 1"/>
    <limit effort="6.8" lower="-62.8318530718" upper="62.8318530718" velocity="15"/>
     <!-- limit effort also defines torque limit and freeze controller gains -->
     <origin rpy="-1.57079632679 0 3.14159265359" xyz="0 0.10375 0"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>

  <link name="kinova_end_effector">
    <!-- Inertial properties and a fixed revolute joint have been added to this link to make it possible to use the gazebo_link_attacher plugin -->
    <!-- Minor collision properties are added to avoid bug/crash when running model in Gazebo -->
    <visual>
      <geometry>
        <box size="0.0001 0.0001 0.0001"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.1"/>
      <geometry>
        <box size="0.00001 0.00001 0.00001"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <mass value="0.01"/>
      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
    </inertial>
  </link>
  <joint name="kinova_joint_end_effector" type="fixed">
    <!--joint name="${joint_name}" type="fixed"-->
    <parent link="kinova_link_6"/>
    <child link="kinova_end_effector"/>
    <axis xyz="0 0 0"/>
    <limit effort="2000" lower="0" upper="0" velocity="1"/>
    <origin rpy="3.14159265359 0 0" xyz="0 0 -0.1600"/>
  </joint>
  <link name="kinova_link_finger_1">
    <visual>
      <geometry>
        <mesh filename="../meshes/finger_proximal.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
        <origin rpy="0 0 0" xyz="0.025 -0.01147 0.0"/>
        <geometry>
          <box size="0.05 0.02294  0.02294"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.022 0 0"/>
      <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
    </inertial>
  </link>
  <joint name="kinova_joint_finger_1" type="revolute">
    <parent link="kinova_link_6"/>
    <child link="kinova_link_finger_1"/>
    <axis xyz="0 0 1"/>
    <origin rpy="-1.570796327 0.649262481663582 1.35961148639407" xyz="0.00279 0.03126 -0.11467"/>
    <limit effort="2000" lower="0" upper="2" velocity="1"/>
  </joint>
  <link name="kinova_link_finger_tip_1">
    <visual>
      <geometry>
        <mesh filename="../meshes/finger_distal.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
        <origin rpy="0 0 0" xyz="0.025 -0.01 0.0"/>
        <geometry>
          <box size="0.045 0.022  0.02294"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.022 0 0"/>
      <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
    </inertial>
  </link>
  <joint name="kinova_joint_finger_tip_1" type="fixed">
    <parent link="kinova_link_finger_1"/>
    <child link="kinova_link_finger_tip_1"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
    <limit effort="2000" lower="0" upper="2" velocity="1"/>
  </joint>
  <link name="kinova_link_finger_2">
    <visual>
      <geometry>
        <mesh filename="../meshes/finger_proximal.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
        <origin rpy="0 0 0" xyz="0.025 -0.01147 0.0"/>
        <geometry>
          <box size="0.05 0.02294  0.02294"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.022 0 0"/>
      <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
    </inertial>
  </link>
  <joint name="kinova_joint_finger_2" type="revolute">
    <parent link="kinova_link_6"/>
    <child link="kinova_link_finger_2"/>
    <axis xyz="0 0 1"/>
    <origin rpy="-1.570796327 0.649262481663582 -1.38614049188413" xyz="0.02226 -0.02707 -0.11482"/>
    <limit effort="2000" lower="0" upper="2" velocity="1"/>
  </joint>
  <link name="kinova_link_finger_tip_2">
    <visual>
      <geometry>
        <mesh filename="../meshes/finger_distal.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
        <origin rpy="0 0 0" xyz="0.025 -0.01 0.0"/>
        <geometry>
          <box size="0.045 0.022  0.02294"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.022 0 0"/>
      <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
    </inertial>
  </link>
  <joint name="kinova_joint_finger_tip_2" type="fixed">
    <parent link="kinova_link_finger_2"/>
    <child link="kinova_link_finger_tip_2"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
    <limit effort="2000" lower="0" upper="2" velocity="1"/>
  </joint>
  <link name="kinova_link_finger_3">
    <visual>
      <geometry>
        <mesh filename="../meshes/finger_proximal.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
        <origin rpy="0 0 0" xyz="0.025 -0.01147 0.0"/>
        <geometry>
          <box size="0.05 0.02294  0.02294"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.022 0 0"/>
      <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
    </inertial>
  </link>
  <joint name="kinova_joint_finger_3" type="revolute">
    <parent link="kinova_link_6"/>
    <child link="kinova_link_finger_3"/>
    <axis xyz="0 0 1"/>
    <origin rpy="-1.570796327 0.649262481663582 -1.75545216211587" xyz="-0.02226 -0.02707 -0.11482"/>
    <limit effort="2000" lower="0" upper="2" velocity="1"/>
  </joint>
  <link name="kinova_link_finger_tip_3">
    <visual>
      <geometry>
        <mesh filename="../meshes/finger_distal.dae"/>
      </geometry>
      <material name="carbon_fiber">
        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
      </material>
    </visual>
    <collision>
        <origin rpy="0 0 0" xyz="0.025 -0.01 0.0"/>
        <geometry>
          <box size="0.045 0.022  0.02294"/>
      </geometry>
    </collision>
    --&gt;

    <inertial>
      <mass value="0.01"/>
      <origin xyz="0.022 0 0"/>
      <inertia ixx="7.8999684e-07" ixy="0" ixz="0" iyy="7.8999684e-07" iyz="0" izz="8e-08"/>
    </inertial>
  </link>
  <joint name="kinova_joint_finger_tip_3" type="fixed">
    <parent link="kinova_link_finger_3"/>
    <child link="kinova_link_finger_tip_3"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="0.044 -0.003 0"/>
    <limit effort="2000" lower="0" upper="2" velocity="1"/>
  </joint>
</robot>
